#pragma once
#include <ros/ros.h>
#include <pcl/point_cloud.h>
#include <sensor_msgs/PointCloud2.h>
#include <pcl/point_types.h>
#include <math.h>
#include <time.h>
#include <vector>
#include <iostream>
#include "pcloud_scans/line_extractor.h"

void Get_key_lines(const std::vector<Point> Laser_sacn, std::vector<Line>& real_line);